Cleaning mechanism, rainwater grate cleaning vehicle and control method of rainwater grate cleaning vehicle

Abstract

The invention discloses a cleaning mechanism, a rainwater grate cleaning vehicle and a control method thereof, and relates to the technical field of rainwater well and rainwater grate cleaning. The cleaning mechanism is applied to the rainwater grate cleaning vehicle, the rainwater grate cleaning vehicle has the length direction and the width direction which are perpendicular to each other, and the cleaning mechanism comprises an execution assembly and a cleaning assembly; the execution assembly is movably arranged on the rainwater grate cleaning vehicle and can do three-dimensional motion in the length direction, the width direction and the vertical direction relative to the rainwater grate cleaning vehicle. The cleaning assembly is connected to the execution assembly, and the execution assembly drives the cleaning assembly to do three-dimensional motion in the length direction, the width direction and the vertical direction relative to the rainwater grate cleaning vehicle. According to the cleaning mechanism, three-dimensional movement of the cleaning assembly can be achieved.

Description

Technical Field

[0001] The invention relates to the technical field of rainwater grates and rainwater well cleaning, and in particular to a cleaning mechanism, a rainwater grate cleaning vehicle and a control method thereof. Background Art

[0002] Existing road rainwater grates and rainwater wells rely on manual labor to remove surface garbage and debris, which is too inefficient, and the inside of the wellhead and the bottom of the well cannot be cleaned, making it difficult to recycle garbage. Incomplete cleaning of rainwater grates and rainwater wells can easily lead to pipe network blockage, affect drainage, and increase pipe network maintenance costs. Due to the large number of road rainwater grates, especially when the rainy season comes, a lot of manpower and material resources are required to clean them, and the work intensity is high, and it is impossible to ensure smooth drainage of rainwater grates and rainwater wells. Summary of the invention

[0003] The main purpose of the present invention is to provide a cleaning mechanism, a rainwater grate cleaning vehicle and a control method thereof, aiming to achieve three-dimensional movement of the cleaning component.

[0004] To achieve the above-mentioned purpose, the cleaning mechanism proposed in the present invention is applied to a rainwater grate cleaning vehicle, which has a length direction and a width direction that are perpendicular to each other. The cleaning mechanism includes an actuator and a cleaning component. The actuator is movably arranged on the rainwater grate cleaning vehicle, and the movable end of the actuator can make three-dimensional movements relative to the rainwater grate cleaning vehicle along the length direction, the width direction and the vertical direction; the cleaning component is connected to the movable end of the actuator, and the movable end of the actuator drives the cleaning component to make three-dimensional movements relative to the rainwater grate cleaning vehicle along the length direction, the width direction and the vertical direction.

[0005] In one embodiment, the actuator includes a first moving part, a second moving part and a third moving part, the first moving part is slidably provided on the rain grate cleaning vehicle, and the first moving part can move along the length direction relative to the rain grate cleaning vehicle, the second moving part is slidably provided on the first moving part, and the second moving part can move along the width direction relative to the first moving part, and the third moving part is slidably provided on the second moving part, and the third moving part can move along the vertical direction relative to the second moving part.

[0006] In one embodiment, the cleaning component includes a sewage suction pipe, one end of which is connected to the sewage suction device of the rainwater grate cleaning vehicle, and the other end of the sewage suction pipe is trumpet-shaped for absorbing dirt in the rainwater grate and the rainwater well.

[0007] In one embodiment, the cleaning component also includes a fourth movable part and a sleeve, the sleeve is arranged on the third movable part, the suction pipe is movably passed through the sleeve, the fourth movable part is arranged on the sleeve, and is driven to connect the suction pipe so that the suction pipe can move in the vertical direction along the sleeve.

[0008] In one embodiment, the cleaning assembly also includes a high-pressure water pipe and a high-pressure flushing nozzle. The high-pressure water pipe is connected to the outer peripheral wall of the suction pipe, one end of the high-pressure water pipe is connected to a high-pressure water source, and the other end is connected to the high-pressure flushing nozzle. The high-pressure flushing nozzle is arranged around the outer peripheral wall of the suction pipe and close to the bell mouth of the suction pipe.

[0009] The present invention also proposes a rain grate cleaning vehicle, comprising a vehicle body, a cleaning mechanism, a control mechanism and a monitoring mechanism, wherein the vehicle body comprises a cab and a frame, wherein the cab is arranged at one end of the frame; the cleaning mechanism is the cleaning mechanism as described above, wherein the cleaning mechanism is movably arranged on the frame, and can perform three-dimensional movement relative to the frame along the length direction, the width direction and the vertical direction; the control mechanism is arranged in the cab, and is electrically or communicatively connected to the cleaning mechanism to control the movement and cleaning of the cleaning mechanism; the monitoring mechanism comprises a plurality of three-dimensional radars and a monitoring screen, wherein the monitoring screen is arranged in the cab, and a plurality of the three-dimensional radars are arranged on the frame and are located near the cleaning mechanism, and a plurality of the three-dimensional radars are electrically connected to the monitoring screen to transmit the real-time modeling of the cleaning mechanism to the monitoring screen.

[0010] In one embodiment, the control mechanism includes a control handle and a proportional valve, and the control handle is connected to the actuator of the cleaning mechanism through the proportional valve.

[0011] The present invention also provides a control method, which is applied to the rainwater grate cleaning vehicle as described above, and comprises the following steps:

[0012] According to the real-time modeling of the monitoring mechanism, the relative position of the cleaning mechanism and the rainwater grate is located;

[0013] The control mechanism controls the cleaning mechanism to move into the rainwater grate and the rainwater well, and cleans the rainwater grate and the rainwater well.

[0014] In one embodiment, the cleaning mechanism of the rainwater grate cleaning vehicle has an initial state and a working state moving relative to the rainwater grate cleaning vehicle, the rainwater grate cleaning vehicle has an immovable parking state and a movable driving state, and after the control mechanism controls the cleaning mechanism to move into the rainwater grate and the rainwater well and cleans the rainwater grate and the rainwater well, the method further includes:

[0015] The control mechanism detects whether the cleaning mechanism is in an initial state;

[0016] If not, the control mechanism controls the rain grate cleaning vehicle to be in a parking state.

[0017] In one embodiment, the control mechanism further includes a reset component, the reset component is electrically connected or communicatively connected to the execution component of the cleaning mechanism, and if not, after the step of the control mechanism controlling the rainwater grate cleaning vehicle to be in a parking state, it further includes:

[0018] The control mechanism controls the reset component to restore the execution component from the working state to the initial state.

[0019] The cleaning mechanism proposed in the technical solution of the present invention drives the cleaning component to move three-dimensionally in the length, width and vertical directions relative to the rainwater grate cleaning vehicle through the execution component, thereby being able to accurately position the rainwater grate and the rainwater well, reducing the labor intensity of the operators and improving the working efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0021] Figure 1 A schematic structural diagram of an embodiment of a rainwater grate cleaning vehicle provided by the present invention;

[0022] Figure 2 A schematic structural diagram of an embodiment of a cleaning mechanism provided by the present invention;

[0023] Figure 3 This is a flowchart of an embodiment of a control method provided by the present invention.

[0024] Description of Figure Numbers:

[0025] 100. Rainwater grate cleaning vehicle; 10. Vehicle body; 11. Driver's cab; 12. Vehicle frame; 20. Cleaning mechanism; 21. Actuating assembly; 211. First moving part; 212. Second moving part; 213. Third moving part; 22. Cleaning assembly; 221. Sewage suction pipe; 222. High-pressure flushing nozzle; 223. Fourth moving part; 224. Casing; 30. Control mechanism; 31. Control handle; 40. Monitoring mechanism; 41. Three-dimensional radar; 42. Monitoring screen.

[0026] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0029] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of the features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0030] Existing road rainwater grates and rainwater wells rely on manual labor to remove surface garbage and debris, which has low labor efficiency, and the inside of the wellhead and the bottom of the well cannot be cleaned, making it difficult to recycle garbage. Incomplete cleaning of rainwater grates and rainwater wells can easily lead to pipe network blockage, affect drainage, and increase pipe network maintenance costs. Due to the large number of road rainwater grates and rainwater wells, especially when the rainy season comes, a lot of manpower and material resources are required to clean them, and the work intensity is high, and it is impossible to ensure smooth drainage of rainwater grates and rainwater wells.

[0031] The present invention provides a cleaning mechanism, a rainwater grate cleaning vehicle and a control method thereof, aiming to realize three-dimensional movement of a cleaning component.

[0032] See also Figure 1 and Figure 2In one embodiment of the present invention, the cleaning mechanism 20 is applied to a rain grate cleaning vehicle 100. The rain grate cleaning vehicle 100 has a length direction and a width direction that are perpendicular to each other. The cleaning mechanism 20 includes an actuator 21 and a cleaning component 22. The actuator 21 is movably arranged on the rain grate cleaning vehicle 100. The movable end of the actuator 21 can make three-dimensional movements relative to the rain grate cleaning vehicle 100 along the length direction, the width direction and the vertical direction; the cleaning component 22 is connected to the movable end of the actuator 21. The movable end of the actuator 21 drives the cleaning component 22 to make three-dimensional movements relative to the rain grate cleaning vehicle 100 along the length direction, the width direction and the vertical direction.

[0033] In this embodiment, the actuator 21 is arranged on the rain grate cleaning vehicle 100, and the movable end of the actuator 21 is connected to the cleaning component 22. The actuator 21 can be a combination of multiple sliding push rods and sliders. By setting slideways along the length direction, width direction and vertical direction, a sliding push rod drives a slider to move along a slideway. It can also be a combination of multiple linear motors. As long as the movable end of the actuator 21 can be moved three-dimensionally relative to the rain grate cleaning vehicle 100, no further limitation is made here. The movable end of the actuator 21 drives the cleaning component 22, extends in the width direction of the rain grate cleaning vehicle 100 and partially appears outside the frame of the rain grate cleaning vehicle 100, adjusts the position in the length direction of the rain grate cleaning vehicle 100 so that the cleaning component 22 is located above the rain grate to be cleaned, and finally drives the cleaning component 22 in the vertical direction to extend into the rainwater well, cleans the inner wall and the bottom of the rainwater well and sucks dirt, improves the cleaning efficiency, and reduces the manpower consumption of the staff.

[0034] The cleaning mechanism 20 proposed in the technical solution of the present invention drives the cleaning component 22 to move three-dimensionally in the length direction, width direction and vertical direction relative to the rainwater grate cleaning vehicle 100 through the execution component 21, so that the rainwater grate and the rainwater wellhead can be accurately positioned, the labor intensity of the operators can be reduced, and the working efficiency can be improved.

[0035] In an embodiment of the present invention, the actuator 21 includes a first movable part 211, a second movable part 212 and a third movable part 213. The first movable part 211 is slidably disposed on the rain grate cleaning vehicle 100, and the first movable part 211 can move along the length direction relative to the rain grate cleaning vehicle 100. The second movable part 212 is slidably disposed on the first movable part 211, and the second movable part 212 can move along the width direction relative to the first movable part 211. The third movable part 213 is slidably disposed on the second movable part 212, and the third movable part 213 can move along the vertical direction relative to the second movable part 212.

[0036] In this embodiment, the actuator 21 includes a first moving part 211, a second moving part 212 and a third moving part 213. Through the mutual cooperation of the three moving parts, the first moving part 211 can move relative to the rain grate cleaning vehicle 100 along the length direction, the second moving part 212 can move relative to the first moving part 211 along the width direction of the rain grate cleaning vehicle 100, and the third moving part 213 can move relative to the second moving part 212 along the vertical direction, so that the movable end of the actuator 21 can move three-dimensionally relative to the rain grate cleaning vehicle 100, and finally drive the cleaning mechanism 20 to position the rain grate and extend it into the rainwater well. The first moving part 211, the second moving part 212 and the third moving part 213 can be driven by a motor or a telescopic push rod or other driving device, which is not further limited here.

[0037] In an embodiment of the present invention, the cleaning component 22 includes a sewage suction pipe 221, one end of which is connected to the sewage suction device of the rainwater grate cleaning vehicle 100, and the other end of the sewage suction pipe 221 is trumpet-shaped for absorbing dirt in the rainwater grate and the rainwater well.

[0038] In this embodiment, one end of the sewage suction pipe 221 is connected to the sewage suction device, and the other end is used to absorb the dirt, and can absorb the garbage or sludge on the ground or in the rainwater well into the garbage bin of the rainwater grate cleaning vehicle 100 for temporary storage and unified dumping. The other end of the sewage suction pipe 221 is designed in a trumpet shape, which helps to expand the opening of the sewage suction pipe 221 and improve the sewage suction efficiency. It may also help to guide the dirt into the pipeline and improve the cleaning efficiency.

[0039] In an embodiment of the present invention, the cleaning component 22 also includes a fourth movable part 223 and a sleeve 224, the sleeve 224 is arranged on the third movable part 213, the sewage suction pipe 221 is movably passed through the sleeve 224, the fourth movable part 223 is arranged on the sleeve 224, and is driven to connect the sewage suction pipe 221 so that the sewage suction pipe 221 can move in the vertical direction along the sleeve 224.

[0040] In this embodiment, the cleaning component 22 also includes a fourth movable part 223 and a sleeve 224. The sleeve 224 is arranged on the third movable part 213 and can move in the vertical direction with the third movable part 213. The sewage suction pipe 221 is movably inserted into the sleeve 224. The sleeve 224 plays a role in fixing and limiting the moving direction of the sewage suction pipe 221. The fourth movable part 223 is arranged on the sleeve 224, and the driving end drives the sewage suction pipe 221 to move in the vertical direction relative to the sleeve 224, thereby enabling the sewage suction pipe 221 to move in the vertical direction relative to the rainwater grate cleaning vehicle 100. The range of vertical movement of the sewage suction pipe 221 is larger, and it can extend into and clean rainwater wells of different depths, and can also effectively flush the bottom of the rainwater well, thereby improving the cleaning efficiency and reducing the manpower consumption of the staff.

[0041] In an embodiment of the present invention, the cleaning component 22 also includes a high-pressure water pipe (not shown) and a high-pressure flushing nozzle 222. The high-pressure water pipe is connected to the outer peripheral wall of the suction pipe 221. One end of the high-pressure water pipe is connected to a high-pressure water source, and the other end is connected to the high-pressure flushing nozzle 222. The high-pressure flushing nozzle 222 is arranged around the outer peripheral wall of the suction pipe 221 and close to the bell mouth of the suction pipe 221.

[0042] In this embodiment, the high-pressure water pipe surrounds the outside of the sewage suction pipe 221. This layout helps save space and enables the high-pressure water pipe and the sewage suction pipe 221 to work together as a whole. The high-pressure water pipe can move in the vertical direction together with the sewage suction pipe 221 to extend into the rainwater well for high-pressure cleaning. The high-pressure flushing nozzle 222 surrounds the outer peripheral wall of the sewage suction pipe 221 to achieve a dead-angle flushing around the sewage suction pipe 221, and then achieves a dead-angle flushing of the well wall of the rainwater well. The trumpet-shaped end of the sewage suction pipe 221 can be closer to the bottom of the rainwater well, concentrating the cleaning force of the high-pressure water pipe and improving the cleaning efficiency.

[0043] The present invention also proposes a rainwater grate cleaning vehicle 100, comprising a vehicle body 10, a cleaning mechanism 20, a control mechanism 30 and a monitoring mechanism 40, wherein the vehicle body 10 comprises a cab 11 and a frame 12, wherein the cab 11 is arranged at one end of the frame 12; the cleaning mechanism 20 is the above-mentioned cleaning mechanism 20, which is movably arranged on the frame 12 and can make three-dimensional movements relative to the frame 12 along the length direction, the width direction and the vertical direction; the control mechanism 30 is arranged in the cab 11 and is electrically connected or communicatively connected to the cleaning mechanism 20 to control the movement and cleaning of the cleaning mechanism 20; the monitoring mechanism 40 comprises a plurality of three-dimensional radars 41 and a monitoring screen 42, wherein the monitoring screen 42 is arranged in the cab 11, and the plurality of three-dimensional radars 41 are arranged on the frame 12 and are located near the cleaning mechanism 20, and the plurality of three-dimensional radars 41 are electrically connected to the monitoring screen 42 to transmit the real-time modeling of the cleaning mechanism 20 to the monitoring screen 42.

[0044] In this embodiment, the control mechanism 30 and the monitoring screen 42 are both arranged in the cockpit of the rainwater grate cleaning vehicle 100, and a plurality of three-dimensional radars 41 electrically connected to the monitoring screen 42 are arranged on the frame 12 of the rainwater grate cleaning vehicle 100 and near the cleaning mechanism 20, so that the position of the cleaning mechanism 20 can be modeled in real time and transmitted to the monitoring screen 42. The operator can obtain the real-time position of the cleaning mechanism 20 according to the image on the monitoring screen 42, and then move the cleaning mechanism 20 in three dimensions by operating the control mechanism 30, so that it is aligned with the rainwater grate and the rainwater well to be cleaned, and extends into the rainwater well for flushing and suction operations. The operator can complete the positioning and cleaning of the rainwater grate in the vehicle without getting off the vehicle, thereby improving the cleaning efficiency and reducing the manpower consumption of the operator. The control mechanism 30 can be a control handle 31, or a PLC controller, etc., which is not further limited here.

[0045] In another embodiment, the rainwater grate cleaning vehicle 100 also includes multiple anti-collision radars in the length direction, width direction and vertical direction. The anti-collision radar is arranged at the end of the cleaning component 22. The anti-collision radar is electrically connected to the control mechanism 30. When the anti-collision radar detects that the distance between the cleaning mechanism 20 and the well wall, well bottom or ground of the rainwater well is too close, the anti-collision radar locks the control mechanism 30, and the actuator cannot be controlled to continue moving in that direction, thereby preventing damage to the cleaning component 22.

[0046] In another other embodiment, the rain grate cleaning vehicle 100 also includes a self-cleaning component for cleaning equipment such as an anti-collision radar set on the cleaning component 22 to prevent it from being covered by sludge, causing insensitive sensing, and causing collision damage between the cleaning component 22 and the well wall or the ground.

[0047] In the embodiment of the present invention, the control mechanism 30 includes a control handle 31 and a proportional valve (not shown), and the control handle 31 is connected to the actuator 21 of the cleaning mechanism 20 through the proportional valve.

[0048] In this embodiment, the control mechanism 30 includes a control handle 31 and a proportional valve. The control handle 31 is connected to the actuator 21 through the proportional valve to realize the control of the actuator 21. The proportional valve can continuously and proportionally control the flow, pressure and direction of the hydraulic system, that is, it can continuously and proportionally control the movement of the actuator 21 in three directions to realize the control of the position, speed and force of the actuator 21, and can reduce the impact during pressure change, thereby improving the control accuracy and the service life of the actuator 21.

[0049] See also Figure 3 The present invention further proposes a control method, which is applied to the above rainwater grate cleaning vehicle 100, comprising the following steps:

[0050] Step S1: According to the real-time modeling of the monitoring mechanism 40, the relative positions of the cleaning mechanism 20, the rainwater grate and the rainwater well are located;

[0051] Step S2: the control mechanism 30 controls the cleaning mechanism 20 to move into the rainwater well and clean the rainwater grate and the rainwater well.

[0052] In this embodiment, firstly, through the real-time monitoring of the cleaning mechanism 20 on the monitoring screen 42, the real-time position of the cleaning mechanism 20 and the relative position between the cleaning component 22 on the cleaning mechanism 20 and the rainwater grate or rainwater well to be cleaned can be obtained, and then, the execution component 21 of the cleaning mechanism 20 is controlled by the control mechanism 30 to move in three dimensions, so that the cleaning component 22 can be smoothly extended into the rainwater well, and the wall, bottom and rainwater grate of the rainwater well can be flushed and dirt sucked, thereby reducing the labor intensity of the operators and improving the working efficiency.

[0053] In an embodiment of the present invention, the cleaning mechanism 20 of the rainwater grate cleaning vehicle 100 has an initial state and a working state moving relative to the rainwater grate cleaning vehicle 100, and the rainwater grate cleaning vehicle 100 has an immovable parking state and a movable driving state. After the control mechanism 30 controls the cleaning mechanism 20 to move into the rainwater grate and the rainwater well, and the step S2 of cleaning the rainwater grate and the rainwater well is further included:

[0054] Step S3: the control mechanism 30 detects whether the cleaning mechanism 20 is in the initial state;

[0055] Step S4: If not, the control mechanism 30 controls the rain grate cleaning vehicle 100 to be in the parking state.

[0056] In this embodiment, a control mechanism 30 is added to detect whether the cleaning mechanism 20 is in the initial state. If the actuator 21 of the cleaning mechanism 20 moves relative to the rain grate cleaning vehicle 100 in any direction, the cleaning mechanism 20 is in the working state. At this time, the control mechanism 30 controls the rain grate cleaning vehicle 100 to be in the parking state to prevent damage to passers-by or the cleaning mechanism 20 caused by operational errors.

[0057] In an embodiment of the present invention, the control mechanism 30 further includes a reset component, which is electrically connected or communicatively connected to the actuator 21 of the cleaning mechanism 20. If not, after the control mechanism 30 controls the rainwater grate cleaning vehicle 100 to be in the parking state in step S4, it further includes:

[0058] Step S5: The control mechanism 30 controls the reset component (not shown) to restore the actuator 21 from the working state to the initial state.

[0059] In this embodiment, the control mechanism 30 also includes a reset component, which can restore the actuator 21 of the cleaning mechanism 20 to its initial state with one click, without the need to slowly adjust it back through the control handle 31, etc., thereby saving the operator's manpower consumption and improving cleaning efficiency.

[0060] The above description is only an exemplary embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the technical concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A cleaning mechanism, applied to a rainwater grate cleaning vehicle, wherein the rainwater grate cleaning vehicle has a length direction and a width direction that are perpendicular to each other, characterized in that: The cleaning mechanism comprises: An actuator assembly, wherein the actuator assembly is disposed on the rainwater grate cleaning vehicle, and a movable end of the actuator assembly can perform three-dimensional movement relative to the rainwater grate cleaning vehicle along the length direction, the width direction and the vertical direction; and A cleaning component is connected to the movable end of the execution component, and the movable end of the execution component drives the cleaning component to perform three-dimensional movement along the length direction, the width direction and the vertical direction relative to the rainwater grate cleaning vehicle.

2. The cleaning mechanism according to claim 1, characterized in that: The execution component includes a first moving part, a second moving part and a third moving part. The first moving part is slidably arranged on the rain grate cleaning vehicle, and the first moving part can move along the length direction relative to the rain grate cleaning vehicle. The second moving part is slidably arranged on the first moving part, and the second moving part can move along the width direction relative to the first moving part. The third moving part is slidably arranged on the second moving part, and the third moving part can move along the vertical direction relative to the second moving part.

3. The cleaning mechanism according to claim 2, characterized in that: The cleaning component comprises a sewage suction pipe, one end of which is connected to the sewage suction device of the rainwater grate cleaning vehicle, and the other end of which is trumpet-shaped and is used to absorb dirt in the rainwater grate and the rainwater well.

4. The cleaning mechanism according to claim 3, characterized in that: The cleaning assembly also includes a fourth movable part and a sleeve, the sleeve is arranged on the third movable part, the suction pipe is movably passed through the sleeve, the fourth movable part is arranged on the sleeve, and is driven to connect the suction pipe so that the suction pipe can move in the vertical direction along the sleeve.

5. The cleaning mechanism according to claim 4, characterized in that: The cleaning assembly also includes a high-pressure water pipe and a high-pressure flushing nozzle. The high-pressure water pipe is connected to the outer peripheral wall of the suction pipe. One end of the high-pressure water pipe is connected to a high-pressure water source, and the other end is connected to the high-pressure flushing nozzle. The high-pressure flushing nozzle is arranged around the outer peripheral wall of the suction pipe and close to the bell mouth of the suction pipe.

6. A rainwater grate cleaning vehicle, characterized in that: The rainwater grate cleaning vehicle comprises: A vehicle body, the vehicle body comprising a cab and a frame, the cab being arranged at one end of the frame; A cleaning mechanism, wherein the cleaning mechanism is the cleaning mechanism according to any one of claims 1 to 5, and the cleaning mechanism is movably arranged on the frame and can perform three-dimensional movement relative to the frame along the length direction, the width direction and the vertical direction; A control mechanism, which is disposed in the cab and is electrically or communicatively connected to the cleaning mechanism to control movement and cleaning of the cleaning mechanism; and The monitoring mechanism includes a plurality of three-dimensional radars and a monitoring screen. The monitoring screen is arranged in the cab. The plurality of three-dimensional radars are arranged on the vehicle frame and are located near the cleaning mechanism. The plurality of three-dimensional radars are electrically connected to the monitoring screen to transmit real-time modeling of the cleaning mechanism to the monitoring screen.

7. The rainwater grate cleaning vehicle according to claim 6, characterized in that: The control mechanism comprises a control handle and a proportional valve, and the control handle is connected to the actuator of the cleaning mechanism through the proportional valve.

8. A control method, applied to the rainwater grate cleaning vehicle according to any one of claims 6 or 7, characterized in that: The control method comprises the following steps: According to the real-time modeling of the monitoring mechanism, the relative positions of the cleaning mechanism, the rainwater grate and the rainwater well are located; The control mechanism controls the cleaning mechanism to move into the rainwater grate and the rainwater well, and cleans the rainwater grate and the rainwater well.

9. The control method according to claim 8, characterized in that: The cleaning mechanism of the rainwater grate cleaning vehicle has an initial state and a working state moving relative to the rainwater grate cleaning vehicle, the rainwater grate cleaning vehicle has an immovable parking state and a movable driving state, and after the control mechanism controls the cleaning mechanism to move into the rainwater grate and the rainwater well and cleans the rainwater grate and the rainwater well, the method further includes: The control mechanism detects whether the cleaning mechanism is in an initial state; If not, the control mechanism controls the rain grate cleaning vehicle to be in a parking state.

10. The control method according to claim 9, characterized in that: The control mechanism further includes a reset component, and the reset component is electrically connected or communicatively connected to the execution component of the cleaning mechanism. If not, after the step of the control mechanism controlling the rainwater grate cleaning vehicle to be in a parking state, the control mechanism further includes: The control mechanism controls the reset component to restore the execution component from the working state to the initial state.

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